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Big work-in-progress refactoring of the constraint solver:

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1) Add fast branchless SIMD support for constraint solver (Windows only until we get other contributions).
See resolveSingleConstraintRowGenericSIMD in Bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
resolveSingleConstraintRowGenericSIMD can be used for all constraints, including contact, point 2 point, hinge, generic etc.

2) During this refactoring, all constraints support the obsolete 'solveConstraintObsolete' while we add 'getInfo1' and 'getInfo2' support.
This interface is almost identical interface to Open Dynamics Engine, to make it easier to port Dantzig LCP solver.

3) Some minor refactoring to reduce huge constructor overhead in math classes.
This commit is contained in:
erwin.coumans
2008-12-01 06:41:25 +00:00
parent 7e93be739b
commit e80feca36b
25 changed files with 2099 additions and 1315 deletions
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4
Extras/quickstep/btOdeQuickstepConstraintSolver.cpp
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@@ -206,8 +206,8 @@ int btOdeQuickstepConstraintSolver::ConvertBody(btRigidBody* orgBody,btAlignedOb
body->m_originalBody = orgBody;
body->m_facc.setValue(0,0,0,0);
body->m_tacc.setValue(0,0,0,0);
body->m_facc.setValue(0,0,0);
body->m_tacc.setValue(0,0,0);
body->m_linearVelocity = orgBody->getLinearVelocity();
body->m_angularVelocity = orgBody->getAngularVelocity();